Robust tracking control of 6-DOF parallel electrical manipulator in Joint-Task space with fast friction estimation

Hao, Renjian; Wang, Junzheng; Zhao, Jing; Wang, Shoukun

doi:10.3182/20140824-6-za-1003.00240

Cited by 3 publications

(2 citation statements)

References 9 publications

(21 reference statements)

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“…Then, according to the friction model of the electric cylinder (Hao et al , 2014), F d can be described as: where trueẏ is the linear velocity of the electric cylinder; trueẎ is the diagonal matrix; F t and F u are the coefficient of Coulomb friction and viscous friction, respectively; F ω = ζ W is the rolling resistance; F N = μN is the road friction.…”

Section: Problem Formulationmentioning

confidence: 99%

Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction

Wang

et al. 2020

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Purpose This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main challenges of parallel mechanism for wheel-legged robots, especially in complex road conditions. To guarantee the tracking performance in an uncertain environment, the disturbances, including the internal friction, external environment interaction, should be considered in the practical robot system. Design/methodology/approach In this paper, a fuzzy approximation-based model predictive tracking scheme (FMPC) for reliable tracking control is developed to the six wheel-legged robot, in which the fuzzy logic approximation is applied to estimate the uncertain physical interaction and external dynamics of the robot system. Meanwhile, the advanced parallel mechanism of the electric six wheel-legged robot (BIT-NAZA) is presented. Findings Co-simulation and comparative experimental results using the BIT-NAZA robot derived from the developed hybrid control scheme indicate that the methodology can achieve satisfactory tracking performance in terms of accuracy and stability. Originality/value This research can provide theoretical and engineering guidance for lateral stability of intelligent robots under unknown disturbances and uncertain nonlinearities and facilitate the control performance of the mobile robots in a practical system.

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Section: Problem Formulationmentioning

confidence: 99%

Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction

Wang

et al. 2020

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“…At present, the research works on redundant actuation are mainly focused on the singularities and the workspace. However, the intelligent control strategies in the existing literature are seldom studied [4][5][6], which has just gotten more attention to make the most use of their advantages; in particular, for high speed, high accuracy machine tools, trajectory track-ing control, for instance, adaptive control and robust control, is very essential for more prosperous applications [7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang

Fang

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

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Transient road signals simulation strategy in a Stewart platform

Santos Arconada,

García-Barruetabeña

2024

Mechanics Based Design of Structures and Machines

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Robust tracking control of 6-DOF parallel electrical manipulator in Joint-Task space with fast friction estimation

Cited by 3 publications

References 9 publications

Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction

Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Transient road signals simulation strategy in a Stewart platform

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